#include <Eigen/Core>
#include <Eigen/Geometry>
#include <bench/BenchTimer.h>
#include <iostream>

using namespace Eigen;

template<typename Quat>
EIGEN_DONT_INLINE void
quatmul_default(const Quat& a, const Quat& b, Quat& c)
{
	c = a * b;
}

template<typename Quat>
EIGEN_DONT_INLINE void
quatmul_novec(const Quat& a, const Quat& b, Quat& c)
{
	c = internal::quat_product<0, Quat, Quat, typename Quat::Scalar, Aligned>::run(a, b);
}

template<typename Quat>
void
bench(const std::string& label)
{
	int tries = 10;
	int rep = 1000000;
	BenchTimer t;

	Quat a(4, 1, 2, 3);
	Quat b(2, 3, 4, 5);
	Quat c;

	std::cout.precision(3);

	BENCH(t, tries, rep, quatmul_default(a, b, c));
	std::cout << label << " default " << 1e3 * t.best(CPU_TIMER) << "ms  \t" << 1e-6 * double(rep) / (t.best(CPU_TIMER))
			  << " M mul/s\n";

	BENCH(t, tries, rep, quatmul_novec(a, b, c));
	std::cout << label << " novec   " << 1e3 * t.best(CPU_TIMER) << "ms  \t" << 1e-6 * double(rep) / (t.best(CPU_TIMER))
			  << " M mul/s\n";
}

int
main()
{
	bench<Quaternionf>("float ");
	bench<Quaterniond>("double");

	return 0;
}
